# Copyright 2020 Makani Technologies LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""Filter parameters."""
from makani.config import mconfig


@mconfig.Config
def MakeParams():
  return {
      # Filter cutoff frequencies [Hz] and loop times [s].
      'fc_1min': 1.0 / 60.0,
      'fc_5min': 1.0 / 300.0,
      'fc_invalid_rate': 1.0 / 40.0,
      'fc_gps_sigmas': 1.0 / 10.0,
      'fc_imu': 1.0 / 10.0,
      'fc_lc': 1.0 / 10.0,
      'fc_pitot': 1.0 / 10.0,

      'loop_time': {
          'fc': 1.0 / 60.0,
          'max_hold_time': 10.0,
      },

      'servo': {
          'fc_temp': 1.0 / 60.0,
          'fc_load': 0.3
      }
  }
